Oh and Hello Again,
I forgot to mention the major change.
So, instead of each motor handling its own PWM frequency in source along w/
duty_cycle, I had previously a method that handled one value that all
motors were being controlled.
For instance:
def set_motorOne(v1):
motor1.set(v1)
def set_motorTwo(v2):
motor2.set(v2)
def set_motorThree(v3):
motor3.set(v3)
def set_motorFour(v4):
motor4.set(v4)
app = Flask(__name__)
@app.route("/")
def homepage(title="homepage"):
return render_template("BootGoOne.html", title=title)
def add_motors_routeOne(state, v1):
@app.route("/" + state, endpoint=state)
def handlerOne():
set_motorOne(v1)
if add_motors_routeOne == 0:
PWM.stop("P9_16")
else:
pass
return homepage(title=state)
add_motors_routeOne("0", 0)
add_motors_routeOne('40', 40)
add_motors_routeOne('50', 50)
add_motors_routeOne('60', 60)
add_motors_routeOne('70', 70)
add_motors_routeOne('80', 80)
add_motors_routeOne('90', 90)
add_motors_routeOne('100', 100)
- The above source handles, what I thought would be, one motor and the
peripherals of pwm and gpio.
- The below source is what worked w/out the addition of three motors,
separate values per motor, and no "failsafe."
def set_motors(v1, v2, v3, v4):
motor1.set(v1)
motor2.set(v2)
motor3.set(v3)
motor4.set(v4)
app = Flask(__name__)
@app.route("/")
def homepage(title="homepage"):
return render_template("BootGoOne.html", title=title)
def add_motors_route(state, v1, v2, v3, v4):
@app.route("/" + state, endpoint=state)
def handlerOne():
set_motors(v1, v2, v3, v4)
# if add_motors_routeOne == 0:
# PWM.stop("P9_16")
else:
pass
return homepage(title=state)
add_motors_route('0', 0)
add_motors_route('25', 25)
and etc...
That is all.
Seth
On Tuesday, February 2, 2021 at 7:15:43 PM UTC-6 set_ wrote:
> Hello,
>
> Well...when I say working, I mean remedially working. Sysfs did return
> errors and I was always receiving the error about multiple values that are
> exactly the same.
>
> I basically changed the source to handle four motors, added a server, and
> managed to adopt a "kill switch" in source via the Adafruit_BBIO.PWM
> functions and Adafruit_BBIO.GPIO functions.
>
> Seth
>
> P.S. One of the four motors seems nice but when I am making a quadruped,
> four motors are needed so far. Anyway, do you see an issue w/ the source as
> it may be as of now?
>
> On Tuesday, February 2, 2021 at 7:32:08 AM UTC-6 [email protected] wrote:
>
>> On 2/2/2021 6:20 AM, set_ wrote:
>>
>> Hello,
>>
>> I have just come across some issues:
>>
>>
>> - What once worked does not work any longer
>>
>> What did you do between it working and it not working ?
>>
>>
>>
>> - The source has changed a bit but I am receiving an error before the
>> changes
>> - I have some Python3 source and a server via Flask and HTML
>>
>> I am giving this source below to better make you understand what is
>> happening on my end of the spectrum. Oh and...for some reason, the source
>> only allows for non-like numerical values.
>>
>> uname -a >>> Linux beaglebone 4.19.94-ti-r58
>> cat /etc/dogtag >>> BeagleBoard.org Debian Buster IoT Image 2020-04-06
>> ...
>>
>> For the uboot_overlay, here is the command to look it over w/ my overlay:
>>
>> cat /boot/uEnv.txt >>> ###Overide capes with eeprom
>> uboot_overlay_addr0=/lib/firmware/BBORG_MOTOR-00A2.dtbo
>>
>> oh and the source:
>>
>> #!/usr/bin/python3
>>
>> from flask import Flask, render_template
>> import Adafruit_BBIO.GPIO as GPIO
>> import Adafruit_BBIO.PWM as PWM
>> from time import sleep
>>
>> class Motor:
>> def __init__(self, dir_pin, pwm_pin, pwm_freq):
>> self.dir_pin = dir_pin
>> self.pwm_pin = pwm_pin
>> self.value = 0
>>
>> PWM.start(pwm_pin, 0, pwm_freq)
>> GPIO.setup(dir_pin, GPIO.OUT)
>>
>> def set(self, value):
>> if value == self.value:
>> return
>>
>> assert -100 <= value <= 100
>>
>> if (value < 0) != (self.value < 0):
>> # changing direction
>> PWM.set_duty_cycle(self.pwm_pin, 0)
>> GPIO.output(self.dir_pin, value < 0)
>>
>> PWM.set_duty_cycle(self.pwm_pin, abs(value))
>> self.value = value
>>
>> motor1 = Motor(dir_pin="P8_18", pwm_pin="P9_16", pwm_freq=1000)
>> motor2 = Motor(dir_pin="P8_16", pwm_pin="P9_14", pwm_freq=1000)
>> motor3 = Motor(dir_pin="P8_14", pwm_pin="P8_13", pwm_freq=1000)
>> motor4 = Motor(dir_pin="P8_26", pwm_pin="P8_19", pwm_freq=1000)
>>
>> def set_motorOne(v1):
>> motor1.set(v1)
>>
>> def set_motorTwo(v2):
>> motor2.set(v2)
>>
>> def set_motorThree(v3):
>> motor3.set(v3)
>>
>> def set_motorFour(v4):
>> motor4.set(v4)
>>
>> app = Flask(__name__)
>>
>> @app.route("/")
>> def homepage(title="homepage"):
>> return render_template("BootGoOne.html", title=title)
>>
>> def add_motors_routeOne(state, v1):
>> @app.route("/" + state, endpoint=state)
>> def handlerOne():
>> set_motorOne(v1)
>> if add_motors_routeOne == 0:
>> PWM.stop("P9_16")
>> else:
>> pass
>>
>> return homepage(title=state)
>>
>> add_motors_routeOne("0", 0)
>> add_motors_routeOne('40', 40)
>> add_motors_routeOne('50', 50)
>> add_motors_routeOne('60', 60)
>> add_motors_routeOne('70', 70)
>> add_motors_routeOne('80', 80)
>> add_motors_routeOne('90', 90)
>> add_motors_routeOne('100', 100)
>>
>> Okay...so:
>>
>>
>> - When I add another 'add_motors_routeOne' as a separate call under
>> another motor, I get some odd behavior.
>> - For instance, 'add_motors_routeTwo', would begin to make issues
>> with calling 'add_motors_routeTwo("0", 0) at the value 0.
>>
>> Anyway...the issue is that it begins to be a sysfs issue or an assertion
>> error on my part.
>>
>> Traceback (most recent call last):
>> File "Moto/motocape/MotorCapeOne/MotorCapeTwo.py", line 92, in
>> <module>
>> add_motors_routeTwo("0", 0)
>> File "Moto/motocape/MotorCapeOne/MotorCapeTwo.py", line 83, in
>> add_motors_routeTwo
>> @app.route("/" + state, endpoint=state)
>> File "/usr/lib/python3/dist-packages/flask/app.py", line 1250, in
>> decorator
>> self.add_url_rule(rule, endpoint, f, **options)
>> File "/usr/lib/python3/dist-packages/flask/app.py", line 66, in
>> wrapper_func
>> return f(self, *args, **kwargs)
>> File "/usr/lib/python3/dist-packages/flask/app.py", line 1221, in
>> add_url_rule
>> 'existing endpoint function: %s' % endpoint)
>> AssertionError: View function mapping is overwriting an existing
>> endpoint function: 0
>>
>> Above is where you can find my error with the current config. of the
>> python3 source from above.
>>
>> Seth
>>
>> --
>> For more options, visit http://beagleboard.org/discuss
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>>
>>
>>
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